My '93 Jeep Cherokee 4.0L pulled my first boat, a '86 Ranger 373V without any problems. My 2002 3/4 ton GMC Yukon XL is now what gets my '04 Ranger 520VX to the water. And having 4X4 capability is really nice to have on slick, steep ramps ;D.
Some minor modifications to the engine/ exhaust will help all around performance. Cold air system, aftermarket mass air sensor, headers, and free flowing muffler(s) are what I have done to the Yukon. As I understand it, and if you can afford it, an engine reprograming unit will make the biggest performance change.